enum joint_name {
JOINT_NONE            =    -1,
JOINT_MIN             =     0,
JOINT_RIGHT_SHOULDER  =     0,
JOINT_RIGHT_ELBOW     =     1,
JOINT_LEFT_SHOULDER   =     2,
JOINT_LEFT_ELBOW      =     3,
JOINT_LEFT_HIP        =     4,
JOINT_LEFT_KNEE       =     5,
JOINT_RIGHT_HIP       =     6,
JOINT_RIGHT_KNEE      =     7,
JOINT_TORSO           =     8,
JOINT_TAIL_HORIZONTAL =     9,
JOINT_TAIL_VERTICAL   =    10,
JOINT_NECK_HORIZONTAL =    11,
JOINT_NECK_VERTICAL   =    12,
JOINT_HEAD            =    13,
JOINT_MAX_PHYSICAL    =    13,
JOINT_TRANSITION      =    14,
JOINT_SOUND           =    15,
JOINT_MAX
};

enum joint_status {
JOINT_STATUS_NONE 	= -1,
JOINT_STATUS_MIN 	= 0,
JOINT_STATUS_IDLE    	= 0,
JOINT_STATUS_RUNNING 	= 1,
JOINT_STATUS_STOPPED 	= 2,
JOINT_STATUS_CANNOT_START = 3,
JOINT_STATUS_STALLED 	= 4,
JOINT_STATUS_NOTREACH	= 5,
JOINT_STATUS_SLOW = 5,
JOINT_STATUS_COMMERR = 6,
JOINT_STATUS_CHERR = 7,
JOINT_STATUS_NOTREADY = 8,
JOINT_STATUS_DISPLACED = 9,
JOINT_STATUS_MAX
};
